Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots

2026-09-19

AI Summary

该研究提出了一种有限支持二次模型(FSQ)，通过考虑接触点的旋转阻力，改进了单轨中心铰接式机器人的轨迹预测，减少了侧向速度和偏航误差。

Abstract

Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, the point-contact kinematic model (PCK) accounts for the linkage geometry but neglects the rotational resistance distributed along the contacts. We propose a finite-support quadratic model (FSQ) for single-track, center-articulated vehicles that incorporates this resistance through a quasi-static balance of lateral slip. Our approach generalizes the standard PCK formulation by relaxing the contact-point assumption. An exact reduction of the quadratic slip cost to contact moments gives a compact closed-form solution for real-time prediction of lateral velocity and yaw rate. We evaluate the proposed method in real-world experiments across asphalt, grass, ice, and mixed routes, using more than 7 km of data. For five-second predictions, FSQ reduces the weighted median translation and yaw errors by 53.5% and 68.9%, respectively, relative to PCK.

Problem

• trajectory planning
• articulated vehicles
• lateral slip
• contact points
• rotational resistance

Innovation

• finite-support quadratic model
• lateral slip resistance
• real-time prediction